Effcient approximation of optimal high-order kinematic trajectories

John G. Mooney; Eric N. Johnson

Effcient approximation of optimal high-order kinematic trajectories

John G. Mooney, Eric N. Johnson

Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and derivative limits. Examples for trajectories generated in both one and two dimensions are shown, with comparison to an iterative solver which searches for the exact optimal solution. The presented algorithm shows drastically lower computational requirements than the iterative solver, with very little cost in accuracy. Benefits and limitations of this approach are discussed.

Original language	English (US)
Title of host publication	AIAA Guidance, Navigation, and Control Conference
Publisher	American Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)	9781624103896
State	Published - Jan 1 2016
Event	AIAA Guidance, Navigation, and Control Conference, 2016 - San Diego, United States Duration: Jan 4 2016 → Jan 8 2016

Publication series

Name	2016 AIAA Guidance, Navigation, and Control Conference

Other

Other	AIAA Guidance, Navigation, and Control Conference, 2016
Country/Territory	United States
City	San Diego
Period	1/4/16 → 1/8/16

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Aerospace Engineering
Electrical and Electronic Engineering

Cite this

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title = "Effcient approximation of optimal high-order kinematic trajectories",

abstract = "A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and derivative limits. Examples for trajectories generated in both one and two dimensions are shown, with comparison to an iterative solver which searches for the exact optimal solution. The presented algorithm shows drastically lower computational requirements than the iterative solver, with very little cost in accuracy. Benefits and limitations of this approach are discussed.",

author = "Mooney, {John G.} and Johnson, {Eric N.}",

year = "2016",

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day = "1",

language = "English (US)",

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series = "2016 AIAA Guidance, Navigation, and Control Conference",

publisher = "American Institute of Aeronautics and Astronautics Inc, AIAA",

booktitle = "AIAA Guidance, Navigation, and Control Conference",

note = "AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016",

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Effcient approximation of optimal high-order kinematic trajectories. / Mooney, John G.; Johnson, Eric N.
AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, 2016. (2016 AIAA Guidance, Navigation, and Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Effcient approximation of optimal high-order kinematic trajectories

AU - Mooney, John G.

AU - Johnson, Eric N.

PY - 2016/1/1

Y1 - 2016/1/1

N2 - A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and derivative limits. Examples for trajectories generated in both one and two dimensions are shown, with comparison to an iterative solver which searches for the exact optimal solution. The presented algorithm shows drastically lower computational requirements than the iterative solver, with very little cost in accuracy. Benefits and limitations of this approach are discussed.

AB - A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and derivative limits. Examples for trajectories generated in both one and two dimensions are shown, with comparison to an iterative solver which searches for the exact optimal solution. The presented algorithm shows drastically lower computational requirements than the iterative solver, with very little cost in accuracy. Benefits and limitations of this approach are discussed.

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M3 - Conference contribution

AN - SCOPUS:84958087637

SN - 9781624103896

T3 - 2016 AIAA Guidance, Navigation, and Control Conference

BT - AIAA Guidance, Navigation, and Control Conference

PB - American Institute of Aeronautics and Astronautics Inc, AIAA

T2 - AIAA Guidance, Navigation, and Control Conference, 2016

Y2 - 4 January 2016 through 8 January 2016

ER -

Effcient approximation of optimal high-order kinematic trajectories

Abstract

Publication series

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All Science Journal Classification (ASJC) codes

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